arXiv (OAI Expanded)
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ProClosure: Hierarchical Room-Object Assignment using Progressive Boundary Closure from Monocular Video
A 3D scene graph groups objects into rooms. When a robot is asked to fetch an object from the kitchen, that grouping is what tells it where to look. An object recorded in the wrong room is not retrievable by a query naming the correct room. We introduce Progressive Boundary Closure, which recovers r
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